Abstract

A real-time collision avoidance algorithm is developedbased on parameterizing an optimal control problem withB-spline curves. The optimal control problem is formulated inoutput space rather than control or input space, this is feasiblebecause of the differential flatness of the system for a fixed wingaircraft. The flat output trajectory is parameterized using a Bsplinecurve representation. In order to reduce the computationaltime of the optimal problem, the aircraft and obstacle constraintsare augmented in the cost function using a penalty functionmethod. The developed algorithm has been simulated and testedin MATLAB/Simulink.